Duration of activity: 09:15 - 16:00
Group members participating: All, but Amos went home at 13:00
_____________________________________________
Schedule for the day (the game plan):
- Amos's PID is implemented
- The cases tested last week for knowing the corners is optimized
- Find a solution for the top platform
- Find a solution for detecting the green platform
Problems and progress:
- Trying to structure the regulator into a class to improve stateupdate with sensors, works perfect
- First attempt for the cornering failed, it seems when it loses the black line in the corner it overshoot and cannot get the direction rigth.
- An idea is to disable the PID regulator when in the corner and lett at speciffic cornering program for the track take over, the idea works but need some fine tuning.
-
- start sequence implemented that makes the car run forward for at short time making sure its off the green.
- attempted to implemet a top detection but it seem that the 3'rd sensor that will give 3 black is ignored and therefore never aborts linefollower. The turning gives problems beacuse just before getting 3 black the devices turn a little, that turning radius i partly unknown. The unknown turning have been removed with some pause funktion for the line follower so theres no updating of power.
- test has shown that the 3 sensors needs to be calibrated individualy, if calibrated at the same time something goes wrong.
- sound implemented for debugging
- implemented some dataloggning for debugging
- problems on slopes with sunligth, migth be solved with threshold fixes
Measurements
-
- An idea is to disable the PID regulator when in the corner and lett at speciffic cornering program for the track take over, the idea works but need some fine tuning.
-
- start sequence implemented that makes the car run forward for at short time making sure its off the green.
- attempted to implemet a top detection but it seem that the 3'rd sensor that will give 3 black is ignored and therefore never aborts linefollower. The turning gives problems beacuse just before getting 3 black the devices turn a little, that turning radius i partly unknown. The unknown turning have been removed with some pause funktion for the line follower so theres no updating of power.
- test has shown that the 3 sensors needs to be calibrated individualy, if calibrated at the same time something goes wrong.
- sound implemented for debugging
- implemented some dataloggning for debugging
- problems on slopes with sunligth, migth be solved with threshold fixes
Measurements
-
Detailed description of solution
- The device use 3 RCX ligth sensors. The wheels are low profile racing wheels for the best traction
- The system runs frow certain states
Start sequence ->
Line follower - > Corner detection - > Turn Rigth ->
Line follower -> Corner detection -> Turn Left ->
Line follower ->
Top detection -> Run straigth and Turn 180 ->
Line follower -> Corner detection -> Turn Rigth ->
Line follower -> Corner detection -> Turn Left ->
Line follower -> Bottom detection -> Run straigth -> STOP
-
Finale Status:
-
- The device use 3 RCX ligth sensors. The wheels are low profile racing wheels for the best traction
- The system runs frow certain states
Start sequence ->
Line follower - > Corner detection - > Turn Rigth ->
Line follower -> Corner detection -> Turn Left ->
Line follower ->
Top detection -> Run straigth and Turn 180 ->
Line follower -> Corner detection -> Turn Rigth ->
Line follower -> Corner detection -> Turn Left ->
Line follower -> Bottom detection -> Run straigth -> STOP
Finale Status:
-
We could'nt get it to complete the course, the problem seamst to be after the turning.
When the PID regulator is reengaged, it seamst that the problem is that the regulator, make some kind of fault. To fully understand we'll need some kind of way to debug while we are runding the robot. Perhabs with an debugning channel over the bluetooth.
So in the end our time is : hav'nt completed the course yet.
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